diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e73e0df2a..9001ca86f 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -19,7 +19,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1.5G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
diff --git a/.python-version b/.python-version
new file mode 100644
index 000000000..0c7d5f5f5
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.11.4
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 2c5f9a035..0789a39c3 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN INSTALL_EXTRA_PACKAGES=no INSTALL_DEADSNAKES_PPA=yes /tmp/tools/install_ubuntu_dependencies.sh && \
+RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
     cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
@@ -64,16 +64,19 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV VIRTUAL_ENV_ROOT="/home/$USER/venv"
-ENV PATH="$VIRTUAL_ENV_ROOT/bin:$PATH"
+ENV PYENV_VERSION=3.11.4
+ENV PYENV_ROOT="/home/$USER/pyenv"
+ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY --chown=$USER pyproject.toml poetry.lock /tmp/
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache
+    rm -rf /home/$USER/.cache && \
+    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
+    rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh
index 1f3fa1f65..a5ff714b2 100755
--- a/selfdrive/test/ci_shell.sh
+++ b/selfdrive/test/ci_shell.sh
@@ -11,7 +11,6 @@ fi
 
 docker run \
        -it \
-       --shm-size=100m \
        --rm \
        --volume $OP_ROOT:$OP_ROOT \
        --workdir $PWD \
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index eaa32a0a4..df815b582 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -10,18 +10,50 @@ if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
 fi
 
+if ! command -v "pyenv" > /dev/null 2>&1; then
+  echo "pyenv install ..."
+  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH"
+fi
+
+if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
+  echo "pyenvrc setup ..."
+  cat <<EOF > "${HOME}/.pyenvrc"
+if [ -z "\$PYENV_ROOT" ]; then
+  $PYENV_PATH_SETUP
+  export PYENV_ROOT="\$HOME/.pyenv"
+  eval "\$(pyenv init -)"
+  eval "\$(pyenv virtualenv-init -)"
+fi
+EOF
+
+  SOURCE_PYENVRC="source ~/.pyenvrc"
+  if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then
+    printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE
+  fi
+
+  eval "$SOURCE_PYENVRC"
+  # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS
+  if [ $(uname) == "Darwin" ]; then
+    unset -f pyenv
+  fi
+fi
+
 export MAKEFLAGS="-j$(nproc)"
 
-
+PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version)
+if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
+  # no pyenv update on mac
+  if [ "$(uname)" == "Linux" ]; then
+    echo "pyenv update ..."
+    pyenv update
+  fi
+  echo "python ${PYENV_PYTHON_VERSION} install ..."
+  CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
+fi
+eval "$(pyenv init --path)"
 
 echo "update pip"
-if [ ! -z "$VIRTUAL_ENV_ROOT" ] || [ ! -z "$INSTALL_DEADSNAKES_PPA" ] ; then
-  if [ -z "$VIRTUAL_ENV_ROOT" ]; then
-    export VIRTUAL_ENV_ROOT="venv"
-  fi
-  python3 -m venv --system-site-packages $VIRTUAL_ENV_ROOT
-  source $VIRTUAL_ENV_ROOT/bin/activate
-fi
 pip install pip==24.0
 pip install poetry==1.7.0
 
@@ -39,6 +71,7 @@ poetry self add poetry-dotenv-plugin@^0.1.0
 
 echo "pip packages install..."
 poetry install --no-cache --no-root
+pyenv rehash
 
 [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 2469168c7..1f8ef24ea 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -99,39 +99,13 @@ function install_ubuntu_lts_latest_requirements() {
 # Install Ubuntu 20.04 packages
 function install_ubuntu_focal_requirements() {
   install_ubuntu_common_requirements
-  install_deadsnakes_ppa
+
   $SUDO apt-get install -y --no-install-recommends \
     libavresample-dev \
     qt5-default \
     python-dev
 }
 
-# Remove once on Ubuntu 24.04
-function install_deadsnakes_ppa(){
-  if [[ -z "$INSTALL_DEADSNAKES_PPA" ]]; then
-    read -p "Do you want to use deadsnakes python@3.11? [Y/n]: " -n 1 -r
-    echo ""
-    if [[ $REPLY =~ ^[Yy]$ ]]; then
-      INSTALL_DEADSNAKES_PPA="yes"
-    fi
-  fi
-  if [[ "$INSTALL_DEADSNAKES_PPA" == "yes" ]]; then
-    # The reinstall ensures that apt_pkg.cpython-35m-x86_64-linux-gnu.so exists
-    # by reinstalling python3-minimal since it's not present in /usr/lib/python3/dist-packages.
-    $SUDO apt install -y --no-install-recommends --reinstall python3-minimal
-    $SUDO apt-get install -y --no-install-recommends python3-apt software-properties-common
-    $SUDO add-apt-repository ppa:deadsnakes/ppa
-    $SUDO apt-get install -y --no-install-recommends \
-      python3.11-dev \
-      python3.11 \
-      python3.11-venv \
-      python3.11-distutils \
-      python3-pip
-    $SUDO update-alternatives --install /usr/bin/python3 python3 /usr/bin/python3.11 20
-    curl -sS https://bootstrap.pypa.io/get-pip.py | python3.11
-  fi
-}
-
 # Detect OS using /etc/os-release file
 if [ -f "/etc/os-release" ]; then
   source /etc/os-release
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index b02186685..d26ec3cfe 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -6,7 +6,7 @@ if [ -z "$SKIP_PROMPT" ]; then
   echo "---------------   macOS support   ---------------"
   echo "Running openpilot natively on macOS is not officially supported."
   echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-  echo
+  echo 
   echo "Check out devcontainers for a seamless experience (see tools/README.md)."
   echo "-------------------------------------------------"
   echo -n "Are you sure you want to continue? [y/N] "
@@ -59,7 +59,8 @@ brew "libusb"
 brew "libtool"
 brew "llvm"
 brew "openssl@3.0"
-brew "python@3.11"
+brew "pyenv"
+brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"